#pragma once


/**
 * 对一些工具类函数的书写
 */
#define use_ros //仅在ros下才具有的函数宏
#define use_opencv //在opencv下才具有的函数宏

#ifdef use_opencv
#include <opencv2/opencv.hpp>
#endif

#ifdef use_ros
#include <ros/ros.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#endif



#ifdef use_ros && use_opencv
// ros 2 opencv 
void rosImg2opencvMat_color(sensor_msgs::ImageConstPtr img_msg, cv::Mat& outMat);
// ros 2 opencv depth
void rosImg2opencvMat_depth(sensor_msgs::ImageConstPtr depth_msg, cv::Mat& outMat);
#endif

